A workcell calibration method for enhancing accuracy in robot machining of aerospace parts

Leali, Francesco; Vergnano, Alberto; Pini, Fabio; Pellicciari, Marcello; Berselli, Giovanni

doi:10.1007/s00170-014-6025-y

Cited by 53 publications

(17 citation statements)

References 23 publications

(32 reference statements)

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“…calibration, STEP-NC, simulator and energy efficiency. Leali et al [137] designed a twostep calibration method to improve the accuracy of robot milling, including a first calibration of the workpiece-independent equipment in the workcell layout and a final automated online calibration of workpiece-dependent equipment. STEP-NC was proposed to use in robot machining [138], and a similar concept was also proposed and tested [139].…”

Section: Other Aspectsmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

267

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For the past three decades, robotic machining has attracted a large amount of research interest owning to the benefit of cost efficiency, high flexibility and multi-functionality of industrial robot. Covering articles published on the subjects of robotic machining in the past 30 years or so; this paper aims to provide an up-to-date review of robotic machining research works, a critical analysis of publications that publish the research works, and an understanding of the future directions in the field. The research works are organised into two operation categories, low material removal rate (MRR) and high MRR, according their machining properties, and the research topics are reviewed and highlighted separately. Then, a set of statistical analysis is carried out in terms of published years and countries. Towards an applicable robotic machining, the future trends and key research points are identified at the end of this paper.

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Section: Other Aspectsmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

267

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“…These kinds of difficulties are pointed out by Schneider et al [18] and Leali et al [19] in robotic machining, a manufacturing process that also requires high load capability. In this context, it is expected that the use of an industrial robot to perform FSW will require high load capabilities to produce quality welds.…”

Section: Introductionmentioning

confidence: 98%

Morphology and strength of acrylonitrile butadiene styrene welds performed by robotic friction stir welding

et al. 2014

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The aim of this study is to examine the main factors affecting friction stir welding (FSW) of acrylonitrile butadiene styrene (ABS) plates, performed by a robotic system developed to this purpose. Welds were carried out using a tool with stationary shoulder and an external heating system. The welding parameters studied were the axial force, rotational and traverse speeds and temperature of the tool. The major novelty is to perform FSW of a polymer in a robotic system and to study the influence of the axial force on weld quality. In a robotic solution the control of axial force allows to eliminate robot positional errors and guarantee the contact between the FSW tool and the work pieces. Strength and strain properties of the welds are evaluated and correlated with the morphology of the welded zone. A comparison between welds produced in the robotic FSW system and in a dedicated FSW machine is presented. It is shown the feasibility of robotic FSW of ABS without deteriorating the mechanical properties of the welds in relation to those produced in the dedicated FSW machine.

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“…With the development of modern metrology techniques such as laser tracking [6,7] and photogrammetry-based measurement [8,9], the robotic positioning accuracy can be improved by kinematic parameter calibration [10][11][12] and positioning error compensation [7,8,[13][14][15][16]. For example, Andres et al [12] developed a calibration method to estimate the external joint configuration parameters using a laser displacement sensor.…”

Section: Introductionmentioning

confidence: 99%

Workpiece Pose Optimization for Milling with Flexible-Joint Robots to Improve Quasi-Static Performance

Qin

Xiong

2019

Applied Sciences

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Although industrial robots are widely used in production automation, their applications in machining have been limited because of the structural vibrations induced by periodic cutting forces. Since the dynamic characteristics of an industrial robot depends on its configuration, the responses of the robot structure to the cutting forces are affected by how the workpiece is placed within the workspace of the robot. This paper presents a method for workpiece pose optimization for a robotic milling system to improve the quasi-static performance during machining. Since the milling forces are time-varying due to the characteristics of the multi-tooth and discontinuity of milling, these forces can excite vibrations inside the robot structure. To address this issue, a structural dynamics model is established for industrial robots, considering their joint flexibility, and a milling force formulation is incorporated into the robot dynamics model to investigate the forced vibrations of the flexible joints. Then, the quasi-static performance of the robotic machining system is evaluated by the vibration-induced offset of the cutter tool that is mounted on the end-effector. Finally, an optimization approach is given for the workpiece pose to minimize the cutter tool offset under the periodic milling force. A numerical simulation demonstrates that the optimal workpiece pose can significantly reduce the overall tool offset during machining and can lower the variation of the tool offset along the milling path.

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A workcell calibration method for enhancing accuracy in robot machining of aerospace parts

Cited by 53 publications

References 23 publications

Industrial robotic machining: a review

Industrial robotic machining: a review

Morphology and strength of acrylonitrile butadiene styrene welds performed by robotic friction stir welding

Workpiece Pose Optimization for Milling with Flexible-Joint Robots to Improve Quasi-Static Performance

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